@incollection{SmaKr1991, Author = {Smagt, Patrick van der and Kr{\"o}se, Ben}, Title = {A Real-Time Learning Neural Robot Controller}, Year = {1991}, Pages = {351--356}, Month = {June}, Editor = {T. Kohonen and K. M\"akisara and O. Simula and J. Kangas}, Publisher = {North-Holland/Elsevier Science Publishers}, Booktitle = {Proceedings of the 1991 International Conference on Artificial Neural Networks}, Keywords = {brml}, Abstract = {A neurally based adaptive controller for a 6 degrees of freedom (DOF) robot manipulator with only rotary joints and a hand-held camera is described. The task of the system is to place the manipulator directly above an object that is observed by the camera (i.e., 2D hand-eye coordination). The requirement of adaptivity results in a system which does not make use of any inverse kinematics formulas or other detailed knowledge of the plant; instead, it should be self-supervising and adapt on-line. The proposed neural system will directly translate the preprocessed sensory data to joint displacements. It controls the plant in a feedback loop. The robot arm may make a sequence of moves before the target is reached, when in the meantime the network learns from experience. The network is shown to adapt quickly (in only tens of trials) and form a correct mapping from input to output domain.} } @COMMENT{Bibtex file generated on 2018-10-9 with typo3 si_bibtex plugin. Data from https://brml.org/people/smagt/ }